Range finder device and camera
First Claim
1. A range finder device, for measuring, when a plurality of projected lights having radiation patterns whose light intensity differs three-dimensional space-wise are irradiated onto an object from alight source on a time-sharing basis to image-pick up reflected light of said projected light from said object with a camera, a distance using the light intensity of an image picked up, characterized in that, with respect to each of a plurality of surfaces including the center of said light source and the center of a lens, there is obtained, in advance, relation between an angle of each projected light from said light source and light intensity in each surface, characterized in that, at the time of actual distance measurement, light intensity of each pixel of said camera is measured, and on the basis of the light intensity thus measured, and relation between said angle and said light intensity on a predetermined surface corresponding to a coordinate position of said pixel measured, there is obtained said angle corresponding to said light intensity of the predetermined pixel thus measured, and characterized in that, on the basis of these light intensity measured, said angles obtained and further two-dimensional coordinate position information on said predetermined pixel on the image, a distance to said object is calculated.
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Accused Products
Abstract
A range finder device, for measuring, when a plurality of projected lights having radiation patterns whose light intensity differs three-dimensional space-wise are irradiated onto an object from a light source on a time-sharing basis to image-pick up reflected light of the projected light from the object with a camera, a distance using the light intensity of an image picked up, characterized in that, with respect to each of a plurality of surfaces including the center of the light source and the center of a lens, there is obtained, in advance, relation between an angle of each projected light from the light source and light intensity ratio in each surface, characterized in that, at the time of actual distance measurement, light intensity of each pixel of the camera is measured, and on the basis of the light intensity thus measured, and relation between the angle and the light intensity ratio on a predetermined surface corresponding to a coordinate position of the pixel measured, there is obtained the angle corresponding to the light intensity of the predetermined pixel thus measured, and characterized in that, on the basis of these light intensity measured, the angles obtained and further two-dimensional coordinate position information on the predetermined pixel on the image, a distance to the object is calculated.
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Citations
35 Claims
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1. A range finder device, for measuring, when a plurality of projected lights having radiation patterns whose light intensity differs three-dimensional space-wise are irradiated onto an object from alight source on a time-sharing basis to image-pick up reflected light of said projected light from said object with a camera, a distance using the light intensity of an image picked up,
characterized in that, with respect to each of a plurality of surfaces including the center of said light source and the center of a lens, there is obtained, in advance, relation between an angle of each projected light from said light source and light intensity in each surface, characterized in that, at the time of actual distance measurement, light intensity of each pixel of said camera is measured, and on the basis of the light intensity thus measured, and relation between said angle and said light intensity on a predetermined surface corresponding to a coordinate position of said pixel measured, there is obtained said angle corresponding to said light intensity of the predetermined pixel thus measured, and characterized in that, on the basis of these light intensity measured, said angles obtained and further two-dimensional coordinate position information on said predetermined pixel on the image, a distance to said object is calculated.
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11. A range finder device, characterized by comprising:
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a light source;
a first optical fiber for guiding light to be emitted from said light source;
light distribution means for dividing light guided by said first optical fiber into a plurality of courses;
a plurality of second optical fibers whose one end is connected to said light distribution means, for irradiating said light divided from an aperture at the other end thereof onto said object;
image pickup means for receiving reflected light of said irradiated light to acquire image data of said object; and
distance calculation means for calculating a distance to said object on the basis of said image data, characterized in that intensity of light to be irradiated onto said object from said other end of each of said plurality of second optical fibers has distribution which is different on place. - View Dependent Claims (14, 15, 18)
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12. A range finder device, characterized by comprising:
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a light source;
a first optical fiber for guiding light to be emitted from said light source;
light branch means for dividing light guided by said first optical fiber into a plurality of courses to irradiate onto said object;
image pickup means for receiving reflected light of said irradiated light to acquire image data of said object; and
distance calculation means for calculating a distance to said object on the basis of said image data, characterized in that intensity of light, in any of those courses, to be irradiated onto said object from said light branch means has distribution which is different on place. - View Dependent Claims (16, 17)
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13. A range finder device, characterized by comprising:
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a plurality of light sources;
a plurality of optical fibers for individually guiding light to be emitted from said light sources on said object side to irradiate onto said object;
image pickup means for receiving reflected light of said irradiated light to pick up image data of said object; and
distance calculation means for calculating a distance to said object on the basis of said image data, characterized in that intensity of light from any of the optical fibers to be irradiated onto said object has distribution which is different on place.
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- 19. A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized in that said camera has such a structure that a distance between said light-emitting means and an image-pickup lens is variable, and characterized in that the interval between said light-emitting means and said image-pickup lens can be taken sufficiently large during the use.
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22. A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized in that said light-emitting means has such a structure that shading plates each having a hole are arranged in front of each of a plurality of straight-line shaped light sources arranged, and each hole in the respective shading plates is deviated from each other position-wise, and said plurality of light sources emit light on a time-sharing basis.
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23. A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up,
characterized in that said light-emitting means is configured such that there is arranged, in front of one light source, a light modulation device whose light transmittance differs two-dimensionally and two-dimensional variation distribution of the light transmittance is switchable, and said light-emitting means emits light plural number of times in response to switching of the distribution of the light transmittance.
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24. A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized by comprising:
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a plane display with a touch panel; and
when a plurality of points in an object are denoted by the user'"'"'s touch operation while said picked-up image is being displayed on the touch panel, a distance calculation part for calculating an actual length between these points thus denoted from said depth image data. - View Dependent Claims (25, 29, 30)
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26. A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, comprising:
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a plane display with a touch panel; and
when a plurality of points in an object are denoted by the user'"'"'s touch operation on the touch panel while said picked up image is being displayed on the touch panel, a distance calculation part for calculating a diameter or a radius of a circle, or a length of a circular arc which passes said plurality of points denoted by the user from said depth image data.
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27. The camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized by comprising:
object extracting means for extracting only an object which exists less than a distance denoted by the user, or only an object which exists within a range of a distance denoted by the user by using said depth image picked up. - View Dependent Claims (28, 35)
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33. A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up,
characterized in that said camera serves dually as a video camera capable of picking up a motion image to record it in a recording medium while said light-emitting means does not emit any light, and characterized in that an index signal is added, to image data picked up when said light-emitting means emits light, and a depth image is calculated using only a specified image to which said index signal has been added.
Specification